摘要
虚拟现实技术应用到遥操作机器人系统中可以克服通信时延对系统的影响,其交互设备数据手套用作遥操作机器人系统的主端控制装置可以在人机交互中充分发挥手的自然性和灵巧性.介绍了美国Immersion公司生产的CyberGlove的特点及使用方法,接着分析了人体手部的生理结构,将手部运动自由度分解为手部姿态22个自由度和空间位置6个自由度.在建立虚拟手部模型的基础上,以具有18个传感器的数据手套作为手势输入设备,通过人体手部运动学模型建立了数据手套与虚拟手模型之间的联系,利用3DSMAX、OpenGL编程实现了人手与虚拟手模型的交互操作.
The virtual reality technology applies in the teleoperation robot system to be possible to overcome the affection of the communication delay, and its interactive equipment data glove is used as master control device to exert human hand＇s nature and delicacy in telerobot system. The characteristics and application methods of the CyberGlove made in American Immersion Corporation were introduced, then physiological structure of the human hand was analyzed, and hand movement degree of freedom was resolved into hand posture 22 degrees of freedom and space position 6 degrees of freedom. Based on the foundation of establishing virtual hand model, the data glove with 18 sensors was taken as the hand pose signal input device the relation between the data glove and the virtual hand model were established through the human body hand kinematics model programming through 3DS MAX and OpenGL finished the interaction between human hand and virtual hand model.
出处
《传感技术学报》
CAS
CSCD
北大核心
2007年第3期523-527,共5页
Chinese Journal of Sensors and Actuators
基金
国家973项目资助(2002CB312102)
